대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1998년도 하계학술대회 논문집 G
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- Pages.2363-2366
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- 1998
동적 신경망에 의한 로봇 좌표 변환의 역기구학적 학습
Inverse Kinematic Learning of Robot Coordinate Transformations Using Dynamic Neural Network
- Cho, Hyeon-Seob (Chungnam sanup Univ.) ;
- Ryu, In-Ho (Iksan National College) ;
- Jeon, Jeong-Chay (Wonkwang Univ.) ;
- Kim, Hee-Sook (Wonkwang Univ.) ;
- Jang, Seong-Whan (Wonkwang Univ.)
- 발행 : 1998.07.20
초록
The intent of this paper is to describe a neural network structure called dynamic neural processor(DNP), and examine how it can be used in developing a learning scheme for computing robot inverse kinematic transformations. The architecture and learning algorithm of the proposed dynamic neural network structure, the DNP, are described. Computer simulations are provided to demonstrate the effectiveness of the proposed learning using the DNP.
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